Analysis Of The Structure And Stability Of A Large And Highly Adaptable Hexapod Robot

In some occasions that humans cannot reach or may endanger life safety,such as planetary surface detection,mudslides,earthquakes,underground collapse accidents,etc,unstructured terrain and ruggedness are common features of these occasions.The application of wheeled and crawler robots in these environments is limited.Compared with wheeled and crawler robots,their structural characteristics have the advantages of more degrees of freedom and strong obstacle crossing ability.The design and development of large-scale hexapod robots will promote the development of national robotics.It has very important practical significance and research value for science and technology and national defense.The research process of hexapod robots can brings very reference theoretical methods and research conclusions for practical engineering applications.This article is based on the Jilin Province Science and Technology Development Plan Project: Large-scale and Highly Adaptable Bionic Hexapod Robot Design and Control Technology Research(Project Number: 20160204057GX)as the research background.Proposed a large hexapod robot that can be used in actual transportation,with reference to the analysis of the whole structure and gait scheme of existing foot robots at home and abroad.The main structure of the robot includes a frame and six mechanical legs,and is equipped with a diesel engine as a power source.The whole machine is driven by hydraulic pressure.The paper systematically introduces the types of hexapod robot configurations,and conducts a comprehensive analysis of the advantages and disadvantages of different configurations.After determining the main configuration,design related structures,including mechanical legs,two types of frames,foot ends,etc.,with related options A large hexapod robot is finally produced,processed and assembled.Using the robot as an experimental platform,the walking gait,kinematics,statics,and stability analysis of the robot are carried out.Through theoretical analysis and walking experiments,the large-scale hexapod robot can travel according to the preset gait and foot-end trajectory,and the strength of each structure meets the requirements of the traveling conditions,and the whole system is relatively stable.The applicability of the state setting is high,and the stability analysis is more accurate.The overall configuration and related analysis theory of hexapod robots proposed in the thesis have important reference value for the development of large-scale hexapod robots in the future,which is of key significance for improving the technical content of large-scale robots and enhancing competitiveness.